JP6594914B2 - 肺の内側のツールナビゲーションのための動的3d肺マップビュー - Google Patents
肺の内側のツールナビゲーションのための動的3d肺マップビュー Download PDFInfo
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Description
本発明は、例えば、以下を提供する。
(項目1)
患者の肺の内側でプローブをナビゲートするための動的3次元(3D)肺マップビューを実装する方法であって、前記方法は、
ナビゲーション計画をナビゲーションシステムの中にロードすることであって、前記ナビゲーション計画は、複数のCT画像から生成された3Dモデルにおいて示される計画された経路を含む、ことと、
前記プローブを患者の気道の中に挿入することであって、前記プローブは、前記ナビゲーションシステムと動作可能に通信する位置センサを含む、ことと、
前記プローブの感知された場所を前記計画された経路と位置合わせすることと、
前記ナビゲーション計画内の標的を選択することと、
前記計画された経路を示し、前記プローブの前記感知された場所を示す前記3Dモデルのビューを提示することと、
前記患者の肺の気道を通して前記標的に向かって前記プローブをナビゲートすることと、
前記プローブの前記感知された場所に基づいて、前記計画された経路を示す前記3Dモデルの前記提示されるビューを反復的に調節することと、
前記3Dモデルの一部を形成するオブジェクトの少なくとも一部を除去することによって、前記提示されるビューを更新することと
を含む、方法。
(項目2)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記プローブが前記標的に接近している場合、ズームインすることを含む、項目1に記載の方法。
(項目3)
前記3Dモデルの前記提示されるビューを反復的に調節することは、その中で前記プローブが感知され、位置特定されるべき気道の直径が所定の閾値より小さい場合、ズームインすることを含む、項目1に記載の方法。
(項目4)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを気道樹分岐が最大限に広げられたビューに変更することを含む、項目1に記載の方法。
(項目5)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記ビューを前記プローブの感知された場所と整列させ、前記プローブの場所および前記プローブの前方にあるものを示すことを含む、項目1に記載の方法。
(項目6)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを前記プローブから前記経路までのベクトルに直交するように変更することを含む、項目1に記載の方法。
(項目7)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを前記3Dモデルに関連して前記プローブの感知された場所に垂直であるように変更し、前記プローブの周囲のエリアを示すことを含む、項目1に記載の方法。
(項目8)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを前記3Dモデルに関連して前記プローブの感知された場所の背後であるように変更し、前記プローブの周囲のエリアを示すことを含む、項目1に記載の方法。
(項目9)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを前記プローブの先端にあり、前記プローブが移動している方向に直交するように変更することを含む、項目1に記載の方法。
(項目10)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを前記プローブから前記標的までのベクトルに垂直であるように変更し、前記標的に対する前記プローブの整列を示すことを含む、項目1に記載の方法。
(項目11)
前記3Dモデルの前記提示されるビューを反復的に調節することは、前記提示されるビューを焦点の周囲で回転させ、前記3Dモデルに関連して前記プローブの前記感知された場所の3D知覚を改善することを含む、項目1に記載の方法。
(項目12)
オブジェクトの少なくとも一部を除去することによって前記提示されるビューを更新することは、着目領域の外側にあるオブジェクトの少なくとも一部を除去することを含む、項目1に記載の方法。
(項目13)
オブジェクトの少なくとも一部を除去することによって前記提示されるビューを更新することは、前記プローブを妨害しているオブジェクトの少なくとも一部を除去することを含む、項目1に記載の方法。
(項目14)
オブジェクトの少なくとも一部を除去することによって前記提示されるビューを更新することは、前記標的を妨害しているオブジェクトの少なくとも一部を除去することを含む、項目1に記載の方法。
(項目15)
オブジェクトの少なくとも一部を除去することによって前記提示されるビューを更新することは、前記プローブの前記感知された場所に関連しないオブジェクトの少なくとも一部を除去することを含む、項目1に記載の方法。
(項目16)
オブジェクトの少なくとも一部を除去することによって前記提示されるビューを更新することは、前記ナビゲーションシステムの現在の選択された状態に関連しないオブジェクトの少なくとも一部を除去することを含む、項目1に記載の方法。
(項目17)
アラートを提示することをさらに含む、項目1に記載の方法。
(項目18)
アラートを提示することは、前記プローブが胸膜に接近しているとき、アラートを提示することを含む、項目17に記載の方法。
(項目19)
アラートを提示することは、前記プローブが大血管に接近しているとき、アラートを提示することを含む、項目17に記載の方法。
(項目20)
アラートを提示することは、前記プローブの感知された場所が前記計画された経路から外れると、アラートを提示することを含む、項目1に記載の方法。
Claims (20)
- 患者の肺の内側でプローブをナビゲートするための動的3次元(3D)肺マップビューを実装するためのシステムであって、前記システムは、
ナビゲーション計画をナビゲーションシステムの中にロードするための手段であって、前記ナビゲーション計画は、複数のCT画像から生成された3Dモデルにおいて示される計画された経路を含む、手段と、
前記プローブを患者の気道の中に挿入するための手段であって、前記プローブは、前記ナビゲーションシステムと動作可能に通信する位置センサを含む、手段と、
前記プローブの感知された場所を前記計画された経路と位置合わせするための手段と、
前記ナビゲーション計画内の標的を選択するための手段と、
前記計画された経路を示し、前記プローブの前記感知された場所を示す前記3Dモデルのビューを提示するための手段と、
前記患者の肺の気道を通して前記標的に向かって前記プローブをナビゲートするための手段と、
前記プローブの前記感知された場所に基づいて、前記計画された経路を示す前記3Dモデルの前記提示されるビューを反復的に調節するための手段と、
前記3Dモデルの一部を形成するオブジェクトの少なくとも一部を除去することによって、前記提示されるビューを更新するための手段と
を含む、システム。 - 前記3Dモデルの前記提示されるビューは、前記プローブが前記標的に接近している場合にズームインすることによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、中で前記プローブが感知され位置特定されるべき気道の直径が所定の閾値より小さい場合にズームインすることによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記提示されるビューを気道樹分岐が最大限に広げられたビューに変更することによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記プローブの場所および前記プローブの前方にあるものを示すように、前記ビューを前記プローブの感知された場所と整列させることによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記提示されるビューを前記プローブから前記経路までのベクトルに直交するように変更することによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記プローブの周囲のエリアを示すように、前記提示されるビューを前記3Dモデルに関連して前記プローブの感知された場所に垂直であるように変更することによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記プローブの前方のエリアを示すように、前記提示されるビューを前記3Dモデルに関連して前記プローブの感知された場所の背後であるように変更することによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記提示されるビューを、前記プローブの先端にあり、前記プローブが移動している方向に直交するように変更することによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記標的に対する前記プローブの整列を示すように、前記提示されるビューを前記プローブから前記標的までのベクトルに垂直であるように変更することによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記3Dモデルの前記提示されるビューは、前記3Dモデルに関連して前記プローブの前記感知された場所の3D知覚を改善するように、前記提示されるビューを焦点の周囲で回転させることによって反復的に調節されるように構成されている、請求項1に記載のシステム。
- 前記提示されるビューは、着目領域の外側にあるオブジェクトの少なくとも一部を除去することによって更新されるように構成されている、請求項1に記載のシステム。
- 前記提示されるビューは、前記プローブを妨害しているオブジェクトの少なくとも一部を除去することによって更新されるように構成されている、請求項1に記載のシステム。
- 前記提示されるビューは、前記標的を妨害しているオブジェクトの少なくとも一部を除去することによって更新されるように構成されている、請求項1に記載のシステム。
- 前記提示されるビューは、前記プローブの前記感知された場所に関連しないオブジェクトの少なくとも一部を除去することによって更新されるように構成されている、請求項1に記載のシステム。
- 前記提示されるビューは、前記ナビゲーションシステムの現在の選択された状態に関連しないオブジェクトの少なくとも一部を除去することによって更新されるように構成されている、請求項1に記載のシステム。
- アラートを提示するための手段をさらに含む、請求項1に記載のシステム。
- 前記アラートは、前記プローブが胸膜に接近しているときに提示されるように構成されている、請求項17に記載のシステム。
- 前記アラートは、ツールが大血管に接近しているときに提示されるように構成されている、請求項17に記載のシステム。
- 前記アラートは、前記プローブの感知された場所が前記計画された経路から外れるときに提示されるように構成されている、請求項17に記載のシステム。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
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US201462020262P | 2014-07-02 | 2014-07-02 | |
US62/020,262 | 2014-07-02 | ||
US14/751,257 US9603668B2 (en) | 2014-07-02 | 2015-06-26 | Dynamic 3D lung map view for tool navigation inside the lung |
US14/751,257 | 2015-06-26 | ||
PCT/US2015/038265 WO2016003875A2 (en) | 2014-07-02 | 2015-06-29 | Dynamic 3d lung map view for tool navigation inside the lung |
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JP2017528174A JP2017528174A (ja) | 2017-09-28 |
JP2017528174A5 JP2017528174A5 (ja) | 2018-06-21 |
JP6594914B2 true JP6594914B2 (ja) | 2019-10-23 |
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EP (1) | EP3164050A4 (ja) |
JP (1) | JP6594914B2 (ja) |
CN (1) | CN106659373B (ja) |
AU (4) | AU2015284430B2 (ja) |
CA (1) | CA2953390A1 (ja) |
WO (1) | WO2016003875A2 (ja) |
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